Underactuated Robotics | Electrical Engineering and Computer Science | MIT OpenCourseWare

Course Info

Instructor

Prof. Russell Tedrake

Departments

Electrical Engineering and Computer Science

As Taught In

Spring 2009

Level

Graduate

Topics

Engineering
- Computer Science
  - Artificial Intelligence
- Electrical Engineering
  - Robotics and Control Systems

Learning Resource Types

Exams

Lecture Videos

Problem Set Solutions

Problem Sets

Programming Assignments with Examples

Projects

Download Course

Lecture Videos

Lecture 1: Introduction

Lecture 2: The Simple Pendulum

Lecture 3: Optimal Control of the Double Integrator

Lecture 4: Optimal Control of the Double Integrator (cont.)

Lecture 5: Numerical Optimal Control (Dynamic Programming)

Lecture 6: Acrobot and Cart-pole

Lecture 7: Swing-up Control of Acrobot and Cart-pole Systems

Lecture 8: Dynamic Programming (DP) and Policy Search

Lecture 9: Trajectory Optimization

Lecture 10: Trajectory Stabilization and Iterative Linear Quadratic Regulator

Lecture 11: Walking

Lecture 12: Walking (cont.)

Lecture 13: Running

Lecture 14: Feasible Motion Planning

Lecture 15: Global Policies from Local Policies

Lecture 16: Introducing Stochastic Optimal Control

Lecture 17: Stochastic Gradient Descent

Lecture 18: Stochastic Gradient Descent 2

Lecture 19: Temporal Difference Learning

Lecture 20: Temporal Difference Learning with Function Approximation

Lecture 21: Policy Improvement

Lecture 22: Actor-critic Methods

Lecture 23: Case Studies in Computational Underactuated Control

Course Info

Instructor

Prof. Russell Tedrake

Departments

Electrical Engineering and Computer Science

As Taught In

Spring 2009

Level

Graduate

Topics

Engineering
- Computer Science
  - Artificial Intelligence
- Electrical Engineering
  - Robotics and Control Systems

Learning Resource Types

Exams

Lecture Videos

Problem Set Solutions

Problem Sets

Programming Assignments with Examples

Projects

Download Course

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